Modular robot used as a beach cleaner

Abstract

This paper presents the development of a modular mobile robot platform for multiple purposes and its adaptation into a beach cleaner setup. The robot has a robust construction allowing it to endure several sorts of environments. In the presented configuration, the developed robot is able to autonomously collect cans using an excavator-like claw. In addition to detailing the system's design and construction, this paper presents the description of the developed embedded electronics modules, a motor closed-loop speed control system and the optical flow algorithms that allows the computer vision system to detect and avoid obstacles and track the cans to be collected.